TUM Teleoperation: Open Source Software for Remote Driving and Assistance of Automated Vehicles
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arXiv
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| Autores principales: | , , , , , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866909885222879232 |
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| author | Kerbl, Tobias Brecht, David Gehrke, Nils Karunainayagam, Nijinshan Krauss, Niklas Pfab, Florian Taupitz, Richard Trautmannsheimer, Ines Su, Xiyan Wolf, Maria-Magdalena Diermeyer, Frank |
| author_facet | Kerbl, Tobias Brecht, David Gehrke, Nils Karunainayagam, Nijinshan Krauss, Niklas Pfab, Florian Taupitz, Richard Trautmannsheimer, Ines Su, Xiyan Wolf, Maria-Magdalena Diermeyer, Frank |
| contents | Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote Driving, e.g., via steering wheel and pedals, Remote Assistance through high-level interaction with automated driving software modules, and integration with a real-world vehicle for practical testing. To address this gap, we present a modular, open source teleoperation software stack that can interact with an automated driving software, e.g., Autoware, enabling Remote Assistance and Remote Driving. The software featuresstandardized interfaces for seamless integration with various real-world and simulation platforms, while allowing for flexible design of the human-machine interface. The system is designed for modularity and ease of extension, serving as a foundation for collaborative development on individual software components as well as realistic testing and user studies. To demonstrate the applicability of our software, we evaluated the latency and performance of different vehicle platforms in simulation and real-world. The source code is available on GitHub |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_13933 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | TUM Teleoperation: Open Source Software for Remote Driving and Assistance of Automated Vehicles Kerbl, Tobias Brecht, David Gehrke, Nils Karunainayagam, Nijinshan Krauss, Niklas Pfab, Florian Taupitz, Richard Trautmannsheimer, Ines Su, Xiyan Wolf, Maria-Magdalena Diermeyer, Frank Robotics Human-Computer Interaction Software Engineering Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote Driving, e.g., via steering wheel and pedals, Remote Assistance through high-level interaction with automated driving software modules, and integration with a real-world vehicle for practical testing. To address this gap, we present a modular, open source teleoperation software stack that can interact with an automated driving software, e.g., Autoware, enabling Remote Assistance and Remote Driving. The software featuresstandardized interfaces for seamless integration with various real-world and simulation platforms, while allowing for flexible design of the human-machine interface. The system is designed for modularity and ease of extension, serving as a foundation for collaborative development on individual software components as well as realistic testing and user studies. To demonstrate the applicability of our software, we evaluated the latency and performance of different vehicle platforms in simulation and real-world. The source code is available on GitHub |
| title | TUM Teleoperation: Open Source Software for Remote Driving and Assistance of Automated Vehicles |
| topic | Robotics Human-Computer Interaction Software Engineering |
| url | https://arxiv.org/abs/2506.13933 |